dua_node

C++ base class library that extends the base rclcpp::Node providing direct and easy access to the dua_utils library features.

Contents

This library provides the new dua_node::NodeBase base ROS 2 node class that implements the following features:

• Automatic initialization of an embedded PManager object to manage node parameters from the params_manager library. This way, you only need to define and call init_parameters in your node class to automatically declare and set up the parameters.

Usage

Just include the dua_node.hpp header file in your node class, and inherit from the dua_node::NodeBase class. The constructor accepts the following arguments:

• std::string && node_name: the name of the node;
• const rclcpp::NodeOptions & opts: the node options object, defaults to rclcpp::NodeOptions();
• verbose: a boolean flag that enables verbose logs in various dua_utils, defaults to false.

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Copyright and License

Copyright 2024 dotX Automation s.r.l.

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License.

You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0.

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

See the License for the specific language governing permissions and limitations under the License.